CN114799565B - Intelligent control system and method for laser cutting machine for aluminum casting machining - Google Patents
Intelligent control system and method for laser cutting machine for aluminum casting machining Download PDFInfo
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- 229910052782 aluminium Inorganic materials 0.000 title claims abstract description 94
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 title claims abstract description 94
- 238000005266 casting Methods 0.000 title claims abstract description 81
- 238000003698 laser cutting Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000003754 machining Methods 0.000 title claims description 4
- 238000005520 cutting process Methods 0.000 claims abstract description 67
- 238000012545 processing Methods 0.000 claims abstract description 41
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 18
- 230000003287 optical effect Effects 0.000 claims abstract description 10
- 239000007921 spray Substances 0.000 claims abstract description 5
- 238000007664 blowing Methods 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 25
- 230000009466 transformation Effects 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 18
- 239000011159 matrix material Substances 0.000 claims description 15
- 238000004140 cleaning Methods 0.000 claims description 4
- DMSMPAJRVJJAGA-UHFFFAOYSA-N benzo[d]isothiazol-3-one Chemical compound C1=CC=C2C(=O)NSC2=C1 DMSMPAJRVJJAGA-UHFFFAOYSA-N 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 238000009825 accumulation Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 description 4
- 238000002844 melting Methods 0.000 description 4
- 230000008018 melting Effects 0.000 description 4
- 238000007711 solidification Methods 0.000 description 3
- 230000008023 solidification Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000608 laser ablation Methods 0.000 description 2
- 229910001369 Brass Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009835 boiling Methods 0.000 description 1
- 239000010951 brass Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000011389 fruit/vegetable juice Nutrition 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30136—Metal
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Robotics (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention relates to the technical field of electronics and lasers, in particular to an intelligent control system and method of a laser cutting machine for processing aluminum castings, wherein the intelligent control system comprises a motion control part, a motion control part and a control part, wherein the motion control part is used for receiving a control instruction and controlling a workbench to return to zero, and converting the lower motion of a machine tool coordinate system and the lower motion of a workpiece coordinate system to obtain absolute coordinates and relative coordinate sheets Duan Zhixian of the workbench and circular arc track motion; the sundry removing part is used for removing solidified aluminum generated when the aluminum casting is cut, and the fan assembly is used for extracting outside air to finish the left blowing accumulation of the removed sundries; and the laser cutting part is used for carrying out image recognition on the laser spots on the surface of the water spray nozzle through an integrated camera of an optical element in the optical lens and carrying out accurate cutting operation. The invention realizes high real-time data processing, fast motion control processing speed and strong expandability of the profile laser cutting, avoids inaccuracy caused to the subsequent cutting processing precision and reduces manual participation.
Description
Technical Field
The invention relates to the technical field of electronics and lasers, in particular to an intelligent control system and method of a laser cutting machine for processing aluminum castings.
Background
One of the advantages of the laser cutting process is the complex design and high material loss, which makes it different from other processes. The laser cutting system can easily process various difficult-to-cut materials such as brass, diamond, aluminum, and various composite materials. The laser cutting machine focuses laser emitted from the laser into laser beam with high power density through the light path system, the laser beam irradiates the surface of the workpiece to make the workpiece reach the melting point or boiling point, and high pressure gas coaxial with the laser beam blows away molten or gasified metal to form kerf with the movement of the relative position of the laser beam and the workpiece.
However, part of aluminum juice can fall on a support flat plate of the laser cutting machine, so that solidified aluminum is safely and rapidly removed, and therefore, the remote intelligent control system of the laser cutting machine based on the Internet of things laser microjet, which is used for avoiding inaccurate cutting precision and convenient for taking materials, is developed, and can be conveniently controlled and achieves higher precision. And adopts a water jet guided laser ablation method, the advantages of the method are that no narrow parallel cutting wall with adaptive focus is arranged, the heat affected zone is minimized by water cooling, and burrs are avoided due to constant water flow.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses an intelligent control system and method for a laser cutting machine for processing aluminum castings, which are used for solving the problems.
The invention is realized by the following technical scheme:
In a first aspect, the invention provides an intelligent control method of a laser cutting machine for processing aluminum castings, which comprises the following steps:
s1, powering up a system, setting instruction parameters through communication of the Internet of things, and enabling an aluminum casting to enter a laser cutting site;
S2, calibrating parameters of the central position of the laser cutting machine, acquiring CCD images, and obtaining position parameters of the aluminum casting after image processing;
S3, performing space coordinate transformation on the position parameters of the aluminum casting by using space analytic geometry to obtain a cutting line equation expressed by a parameter equation, and further establishing a mathematical model;
s4, inputting geometric information of parameters of the aluminum casting, and obtaining discrete data by using a computer to obtain an aluminum casting running track;
S5, feeding back detection information of the detection sensor and the running track in the S4 to the control system, and starting the cutting system to work;
And S6, after cutting is completed, closing the cutting system, transmitting the data to a remote control terminal through an Internet of things communication network, and controlling the clearing system to finish clearing finally.
In the method, when the round pipe and the square pipe are in offset skew, the radius of the round pipe is R, the side length of the square pipe is a, the intersection angle between the two pipes is alpha, the offset distance is e, and OO' is the common vertical line of the axes of the round pipe and the square pipe; respectively establishing a circular tube coordinate system O-XYZ and a square tube coordinate system O ' -X ' Y ' Z ' by taking a straight line where the circular tube axis is located as an X axis and a straight line where the square tube axis is located as an X ' axis;
performing coordinate system transformation, namely rotating the round tube coordinate system clockwise by alpha around the Y axis to obtain an O 1-X1Y1Z1 coordinate system, wherein the homogeneous coordinate transformation matrix is A 1;
Translating the O 1-X1Y1Z1 coordinate system along the positive direction of the Y1 axis by e to obtain an O 2-X2Y2Z2 coordinate system, wherein the corresponding transformation matrix is A 2;
rotating the O 2,X2Y2Z2 coordinate system clockwise by 45 degrees around the X 2 axis to obtain an O '-X' Y 'Z' coordinate system, wherein the corresponding transformation matrix is A 3;
assuming that the homogeneous coordinate transformation matrix is A from the circular tube coordinate system to the square tube coordinate system
(x' y' z' 1)＝(x y z 1)A
Obtaining a transformation matrix A 'converted from a square tube coordinate system to a round tube coordinate system'
(x y z 1)＝(x' y' z' 1)A'
Further, in the method, when solving the intersecting line equation, the principal rectangular coordinate equation is:
y2+z2＝R2
The rectangular coordinate equation of the branch pipe is as follows:
projecting a main pipe with radius R in a YOZ plane, wherein the parameter equation of the main pipe is as follows:
Wherein θ is the angle that rotates counterclockwise from the positive half axis of the Y-axis to the proxel.
In the method, the aluminum casting is placed on the feeding frame, instruction parameters are transmitted to the field control panel through the communication network of the Internet of things through the remote control terminal, the field control panel enables the electric push rod to work accordingly, the aluminum casting is moved to the inner side of the cutting system, when the feeding frame moves leftwards and touches the positioning sensor, the positioning sensor transmits information back to the field control panel, the field control panel controls the electric push rod to reset and close accordingly, and at the moment, the rightward movement of the aluminum casting is limited through the cooperation of the reset spring and the baffle plate.
In the method, the command parameters are transmitted to the field control panel through the communication network of the Internet of things by the remote control terminal, the field control panel transmits the commands to the positive and negative modules, the positive and negative modules start the outer rotor motor to work, and the outer rotor motor works to adjust the cutting system.
In the method, after the aluminum casting is placed on the inner side of the cutting system, command parameters are transmitted to a field control panel through a communication network of the Internet of things through a remote control terminal, the field control panel transmits the commands to a control module, the control module enables a detection sensor to work according to the commands, the detection sensor detects the aluminum casting on the cutting system, after the aluminum casting is detected, the detection sensor feeds information back to the control module, the control module starts the cutting system to work according to the fed information, and the cutting system works to cut the aluminum casting.
Further, in the method, a water jet guided laser system is used for cutting, the water jet is moved to a reference position, a laser spot is detected on the surface of a nozzle, and then the laser spot is accurately aligned with the nozzle for accurate cutting operation; after all the aluminum castings are cut, the field control panel closes the cutting system, and transmits data to the remote control terminal through the Internet of things communication network.
In the method, after all the aluminum castings are cut and processed, command parameters are transmitted to a field control panel through a communication network of the Internet of things through a remote control terminal, the field control panel enables a sundry removal system to work according to the transmitted commands, the sundry removal system works to clean solidified aluminum generated when the aluminum castings are cut, meanwhile, the cut aluminum castings are moved to the sundry removal system, after the cleaning is finished, the field control panel enables the cutting system to reset and close, the field control panel enables a fan assembly to work according to the transmitted commands, the fan assembly extracts air from the outside, and the air is discharged leftwards through an air outlet pipe, so that the cleaned sundries are blown leftwards to be accumulated.
In a second aspect, the invention provides a laser cutting machine intelligent control system for aluminum casting processing, which is used for realizing the laser cutting machine intelligent control method for aluminum casting processing according to the first aspect, comprising the following steps of
The motion control part is used for receiving a control instruction, controlling the zero return motion of the workbench, converting the motion under the coordinate system of the machine tool and the motion under the coordinate system of the workpiece, and acquiring absolute coordinates and relative coordinate sheets Duan Zhixian of the workbench and circular arc track motion;
the sundry removing part is used for removing solidified aluminum generated when the aluminum casting is cut, extracting outside air through the fan assembly, and discharging the air leftwards through the air outlet pipe so as to finish the left blowing and stacking of the removed sundries;
and the laser cutting part is used for carrying out image recognition on the laser spots on the surface of the water spray nozzle through an integrated camera of an optical element in the optical lens and carrying out accurate cutting operation.
Further, the motion control part comprises a remote control terminal, an Internet of things communication network, a field control panel and a control module;
the sundry removing part comprises an electric push rod and a fan assembly;
the laser cutting part comprises a front module, a back module, a servo motor, a CCD camera, a detection sensor and a laser cutting machine.
The beneficial effects of the invention are as follows:
According to the invention, through mathematical modeling of the cutting track, intersecting line groove data can be obtained by conveniently utilizing intersecting line geometric information, so that the intersecting line groove data can be applied to laser cutting processing, and further high real-time data processing, high motion control processing speed and high expandability of profile laser cutting are realized.
According to the invention, the cutting system is used for completing the cutting processing of the aluminum casting, and the sundry removing system is used for removing the solidified aluminum generated after melting and solidification during laser cutting, so that the inaccuracy caused by the subsequent cutting processing precision is avoided; the Internet of things is adopted for control, so that manual participation is reduced. And the laser micro-jet method is adopted to improve the cutting precision of the aluminum casting.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic step diagram of an intelligent control method of a laser cutting machine for processing aluminum castings;
FIG. 2 is a cross-sectional view of a round-square tube bias in accordance with an embodiment of the present invention;
Fig. 3 is a schematic block diagram of an intelligent control system of a laser cutting machine for processing aluminum castings.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1, the embodiment provides an intelligent control method for a laser cutting machine for processing aluminum castings, which comprises the following steps:
s1, powering up a system, setting instruction parameters through communication of the Internet of things, and enabling an aluminum casting to enter a laser cutting site;
S2, calibrating parameters of the central position of the laser cutting machine, acquiring CCD images, and obtaining position parameters of the aluminum casting after image processing;
S3, performing space coordinate transformation on the position parameters of the aluminum casting by using space analytic geometry to obtain a cutting line equation expressed by a parameter equation, and further establishing a mathematical model;
s4, inputting geometric information of parameters of the aluminum casting, and obtaining discrete data by using a computer to obtain an aluminum casting running track;
S5, feeding back detection information of the detection sensor and the running track in the S4 to the control system, and starting the cutting system to work;
And S6, after cutting is completed, closing the cutting system, transmitting the data to a remote control terminal through an Internet of things communication network, and controlling the clearing system to finish clearing finally.
According to the embodiment, the laser cutting machine remote intelligent control system based on the Internet of things laser microjet, which is inaccurate in cutting precision and convenient to take materials, can be controlled conveniently and achieves higher precision. And adopts a water jet guided laser ablation method, the advantages of the method are that no narrow parallel cutting wall with adaptive focus is arranged, the heat affected zone is minimized by water cooling, and burrs are avoided due to constant water flow.
Example 2
On the basis of embodiment 1, the present embodiment provides a mathematical modeling method for a cutting track, specifically, as shown in fig. 2, when a round pipe and a square pipe are offset and obliquely crossed, the radius of the round pipe is R, the side length of the square pipe is a, the intersection angle between the two pipes is α, the offset distance is e, and OO' is a common vertical line of the axes of the round pipe and the square pipe; respectively establishing a circular tube coordinate system O-XYZ and a square tube coordinate system O ' -X ' Y ' Z ' by taking a straight line where the circular tube axis is located as an X axis and a straight line where the square tube axis is located as an X ' axis;
performing coordinate system transformation, namely rotating the round tube coordinate system clockwise by alpha around the Y axis to obtain an O 1-X1Y1Z1 coordinate system, wherein the homogeneous coordinate transformation matrix is A 1;
Translating the O 1-X1Y1Z1 coordinate system along the positive direction of the Y1 axis by e to obtain an O 2-X2Y2Z2 coordinate system, wherein the corresponding transformation matrix is A 2;
Rotating the O 2,X2Y2Z2 coordinate system clockwise by 45 degrees around the X 2 axis to obtain an O '-X' Y 'Z' coordinate system, wherein the corresponding transformation matrix is A 3;
assuming that the homogeneous coordinate transformation matrix is A from the circular tube coordinate system to the square tube coordinate system
(x′ y′ z′ 1)＝(x y z 1)A
Obtaining a transformation matrix A 'converted from a square tube coordinate system to a round tube coordinate system'
(x y z 1)＝(x′ y′ z′ 1)A′
In this embodiment, when solving the intersecting line equation, the principal rectangular coordinate equation is:
y2+z2＝R2
The rectangular coordinate equation of the branch pipe is as follows:
projecting a main pipe with radius R in a YOZ plane, wherein the parameter equation of the main pipe is as follows:
Wherein θ is the angle that rotates counterclockwise from the positive half axis of the Y-axis to the proxel.
According to the embodiment, through mathematical modeling of the cutting track, intersecting line groove data can be obtained by conveniently utilizing intersecting line geometric information, so that the method is applied to laser cutting processing, and further high real-time data processing, high motion control processing speed and high expandability of profile laser cutting are realized.
Example 3
In a specific implementation aspect, the embodiment provides a laser cutting machine intelligent control method for processing aluminum castings based on internet of things laser microjet, which specifically comprises the following steps:
1. Firstly, an aluminum casting is placed on a feeding frame, instruction parameters are transmitted to a field control panel through a remote control terminal through an Internet of things communication network, the field control panel enables an electric push rod to work accordingly, the aluminum casting is moved to the inner side of a cutting system, when the feeding frame moves leftwards and touches a positioning sensor, the positioning sensor transmits information back to the field control panel, the field control panel controls the electric push rod to reset and close accordingly, and at the moment, the rightward movement of the aluminum casting is limited through the cooperation of a reset spring and a baffle plate.
2. The remote control terminal transmits the instruction parameters to the field control panel through the communication network of the Internet of things, the field control panel transmits the instructions to the front and back modules, the front and back modules start the outer rotor motor to work, and the outer rotor motor works to adjust the cutting system, so that aluminum castings with different sizes can be conveniently placed, and subsequent cutting processing is performed;
3. When the aluminum casting is placed inside the cutting system, instruction parameters are transmitted to the field control panel through the communication network of the Internet of things through the remote control terminal, the field control panel transmits instructions to the control module, the control module enables the detection sensor to work according to the instructions, the detection sensor detects the aluminum casting on the cutting system when the aluminum casting is detected, the detection sensor feeds information back to the control module, the control module starts the cutting system to work according to the fed information, the cutting system works to cut the aluminum casting, and the most advanced technology of the water jet guided laser system comprises automatic alignment of laser through the water spray nozzle. This is achieved by the motorisation of the optical elements in the optical lens, the automatic alignment system uses an integrated camera to image the laser spot on the surface of the water jet nozzle, which camera images the nozzle with a resolution of 1 μm. The water jet is moved to a reference position, the laser spot is detected at the nozzle surface and then precisely aligned to the nozzle for precise cutting operations. After all the aluminum castings are cut, the field control panel turns off the cutting system, and transmits data to the remote control terminal through the Internet of things communication network;
4. After all the aluminum castings are cut and processed, transmitting instruction parameters to a field control panel through a communication network of the Internet of things by a remote control terminal, enabling a sundry removal system to work according to the transmitted instructions by the field control panel, cleaning solidified aluminum generated when the aluminum castings are cut by the sundry removal system, simultaneously enabling the cut aluminum castings to move to the sundry removal system, and resetting and closing the cutting system by the field control panel after cleaning is completed;
5. The command parameters are transmitted to the field control panel through the communication network of the Internet of things by the remote control terminal, the field control panel enables the fan assembly to work according to the transmitted command, the fan assembly extracts outside air, and the outside air is discharged leftwards through the air outlet pipe, so that cleaned sundries are blown leftwards to be accumulated, and subsequent processing is facilitated.
According to the embodiment, the cutting system is used for completing the cutting processing of the aluminum casting, and the sundry removing system is used for removing the solidified aluminum generated after melting and solidification during laser cutting, so that inaccuracy is avoided for the subsequent cutting processing precision; the Internet of things is adopted for control, so that manual participation is reduced. And the laser micro-jet method is adopted to improve the cutting precision of the aluminum casting.
Example 4
In other aspects, referring to FIG. 3, the embodiment provides an intelligent control system of a laser cutting machine for processing aluminum castings, comprising
The motion control part is used for receiving a control instruction, controlling the zero return motion of the workbench, converting the motion under the coordinate system of the machine tool and the motion under the coordinate system of the workpiece, and acquiring absolute coordinates and relative coordinate sheets Duan Zhixian of the workbench and circular arc track motion;
the sundry removing part is used for removing solidified aluminum generated when the aluminum casting is cut, extracting outside air through the fan assembly, and discharging the air leftwards through the air outlet pipe so as to finish the left blowing and stacking of the removed sundries;
and the laser cutting part is used for carrying out image recognition on the laser spots on the surface of the water spray nozzle through an integrated camera of an optical element in the optical lens and carrying out accurate cutting operation.
The motion control part of the embodiment comprises a remote control terminal, an Internet of things communication network, a field control panel and a control module.
The debris removal portion of this embodiment includes an electric push rod and fan assembly.
The laser cutting part of the embodiment comprises a front module, a servo motor, a CCD camera, a detection sensor and a laser cutting machine.
In conclusion, the intersecting line groove data can be obtained by using the intersecting line geometric information conveniently through mathematical modeling of the cutting track, so that the intersecting line groove data can be applied to laser cutting processing, and further high real-time data processing, high motion control processing speed and high expandability of profile laser cutting are realized.
According to the invention, the cutting system is used for completing the cutting processing of the aluminum casting, and the sundry removing system is used for removing the solidified aluminum generated after melting and solidification during laser cutting, so that the inaccuracy caused by the subsequent cutting processing precision is avoided; the Internet of things is adopted for control, so that manual participation is reduced. And the laser micro-jet method is adopted to improve the cutting precision of the aluminum casting.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The intelligent control method of the laser cutting machine for processing the aluminum castings is characterized by comprising the following steps of:
s1, powering up a system, setting instruction parameters through communication of the Internet of things, and enabling an aluminum casting to enter a laser cutting site;
S2, calibrating parameters of the central position of the laser cutting machine, acquiring CCD images, and obtaining position parameters of the aluminum casting after image processing;
S3, performing space coordinate transformation on the position parameters of the aluminum casting by using space analytic geometry to obtain a cutting line equation expressed by a parameter equation, and further establishing a mathematical model;
s4, inputting geometric information of parameters of the aluminum casting, and obtaining discrete data by using a computer to obtain an aluminum casting running track;
S5, feeding back detection information of the detection sensor and the running track in the S4 to the control system, and starting the cutting system to work;
s6, after cutting is completed, closing the cutting system, transmitting the data to a remote control terminal through an Internet of things communication network, and controlling a clearing system to complete clearing;
When the round pipe and the square pipe are in offset skew, the radius of the round pipe is R, the side length of the square pipe is a, the intersection angle between the two pipes is alpha, the offset distance is e, and OO' is the common vertical line of the axes of the round pipe and the square pipe; respectively establishing a circular tube coordinate system O-XYZ and a square tube coordinate system O ' -X ' Y ' Z ' by taking a straight line where the circular tube axis is located as an X axis and a straight line where the square tube axis is located as an X ' axis;
performing coordinate system transformation, namely rotating the round tube coordinate system clockwise by alpha around the Y axis to obtain an O 1-X1Y1Z1 coordinate system, wherein the homogeneous coordinate transformation matrix is A 1;
Translating the O 1-X1Y1Z1 coordinate system along the positive direction of the Y1 axis by e to obtain an O 2-X2Y2Z2 coordinate system, wherein the corresponding transformation matrix is A 2;
rotating the O 2,X2Y2Z2 coordinate system clockwise by 45 degrees around the X 2 axis to obtain an O '-X' Y 'Z' coordinate system, wherein the corresponding transformation matrix is A 3;
assuming that the homogeneous coordinate transformation matrix is A from the circular tube coordinate system to the square tube coordinate system
(x′ y′ z′ 1)＝(x y z 1)A
Obtaining a transformation matrix A 'converted from a square tube coordinate system to a round tube coordinate system'
(x y z 1)＝(x′ y′ z′ 1)A′
When solving the intersecting line equation, the principal rectangular coordinate equation is:
y2+z2＝R2
the rectangular coordinate equation of the branch pipe is as follows:
|y′|+|z′|＝√2a/2
Projecting a main pipe with radius R in a YOZ plane, wherein the parameter equation of the main pipe is as follows:
Wherein θ is the angle that rotates counterclockwise from the positive half axis of the Y-axis to the proxel.
2. The intelligent control method for the laser cutting machine for processing the aluminum castings, which is disclosed in claim 1, is characterized in that in the method, the aluminum castings are placed on a feeding frame, instruction parameters are transmitted to a field control panel through a communication network of the Internet of things by a remote control terminal, the field control panel enables an electric push rod to work accordingly, the aluminum castings are moved to the inner side of a cutting system, when the feeding frame moves leftwards and touches a positioning sensor, the positioning sensor transmits information back to the field control panel, the field control panel controls the electric push rod to reset and close accordingly, and at the moment, the rightward movement of the aluminum castings is limited through the cooperation of a reset spring and a baffle plate.
3. The intelligent control method of the laser cutting machine for aluminum casting processing according to claim 1, wherein in the method, command parameters are transmitted to a field control panel through an internet of things communication network by a remote control terminal, the field control panel transmits the commands to a positive and negative module, the positive and negative module starts an outer rotor motor to work, and the outer rotor motor works to adjust a cutting system.
4. The intelligent control method of the laser cutting machine for aluminum casting machining according to claim 1, wherein in the method, after the aluminum casting is placed on the inner side of a cutting system, command parameters are transmitted to a field control panel through an internet of things communication network by a remote control terminal, the field control panel transmits the commands to a control module, a detection sensor works according to the commands, the detection sensor works to detect the aluminum casting on the cutting system, after the aluminum casting is detected, the detection sensor feeds information back to the control module, the control module starts the cutting system to work according to the fed information, and the cutting system works to cut the aluminum casting.
5. The intelligent control method for the laser cutting machine for aluminum casting processing according to claim 4, wherein the method uses a water jet guided laser system for cutting, moves the water jet to a reference position, detects a laser spot on the surface of the nozzle, and then accurately aligns the laser spot to the nozzle for accurate cutting operation; after all the aluminum castings are cut, the field control panel closes the cutting system, and transmits data to the remote control terminal through the Internet of things communication network.
6. The intelligent control method of the laser cutting machine for aluminum casting machining according to claim 1, wherein after the aluminum casting is machined completely, command parameters are transmitted to a field control panel through a communication network of the Internet of things by a remote control terminal, the field control panel enables a sundry removal system to work according to the transmitted command, the sundry removal system works to remove solidified aluminum generated when the aluminum casting is cut, meanwhile, the cut aluminum casting is moved to the sundry removal system, after the cleaning is finished, the field control panel enables the cutting system to reset and close, the field control panel enables a fan assembly to work according to the transmitted command, the fan assembly extracts outside air and discharges the air leftwards through an air outlet pipe, and the cleaned sundries are blown leftwards to be accumulated.
7. An intelligent control system for a laser cutting machine for aluminum casting processing, which is used for realizing the intelligent control method for the laser cutting machine for aluminum casting processing according to any one of claims 1 to 6, characterized by comprising
The motion control part is used for receiving a control instruction, controlling the zero return motion of the workbench, converting the motion under the coordinate system of the machine tool and the motion under the coordinate system of the workpiece, and acquiring absolute coordinates and relative coordinate sheets Duan Zhixian of the workbench and circular arc track motion;
the sundry removing part is used for removing solidified aluminum generated when the aluminum casting is cut, extracting outside air through the fan assembly, and discharging the air leftwards through the air outlet pipe so as to finish the left blowing and stacking of the removed sundries;
and the laser cutting part is used for carrying out image recognition on the laser spots on the surface of the water spray nozzle through an integrated camera of an optical element in the optical lens and carrying out accurate cutting operation.
8. The intelligent control system for the laser cutting machine for aluminum casting processing according to claim 7, wherein the motion control part comprises a remote control terminal, an internet of things communication network, a field control panel and a control module;
the sundry removing part comprises an electric push rod and a fan assembly;
the laser cutting part comprises a front module, a back module, a servo motor, a CCD camera, a detection sensor and a laser cutting machine.
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